klk720 - department of electrical & computer engineering

IMPROVING PEDESTRIAN SAFETY AT SIGNALIZED INTERSECTIONS

Final Report

KLK720

N12-04

National Institute for Advanced Transportation Technology

University of Idaho

Richard W. Wall, Denise H. Bauer

June 2012

DISCLAIMER

The contents of this report reflect the views of the authors,

who are responsible for the facts and the accuracy of the

information presented herein. This document is disseminated

under the sponsorship of the Department of Transportation,

University Transportation Centers Program, in the interest of

information exchange. The U.S. Government assumes no

liability for the contents or use thereof.

1. Report No. 2. Government Accession

No.

3. Recipient’s Catalog No.

Title and Subtitle

Improving Pedestrian Safety at Signalized Intersections

4. Report Date

June 2012

5. Performing Organization

Code

KLK720

6. Author(s)

Dr. Wall, Richard and Dr. Bauer, Denise

7. Performing Organization

Report No.

N12-04

8. Performing Organization Name and Address 9. Work Unit No. (TRAIS)

National Institute for Advanced Transportation Technology

University of Idaho

PO Box 440901; 115 Engineering Physics Building

Moscow, ID 83844-0901

10. Contract or Grant No.

DTRT07-G-0056

11. Sponsoring Agency Name and Address

US Department of Transportation

Research and Special Programs Administration

400 7th Street SW

Washington, DC 20509-0001

12. Type of Report and Period

Covered

Final Report: August 2010

– June 2012

13. Sponsoring Agency Code

USDOT/RSPA/DIR-1

14. Supplementary Notes:

15. Abstract:

Our research investigated methods and technologies to make signalized intersections safer for pedestrians using the capabilities

of accessible pedestrian systems. Our research focused on three technologies: acoustic beaconing, passive pedestrian detection,

and pedestrian preemption. The effectiveness of proposed enhancements was measured by engineering performance analysis,

pedestrian and traffic agency feedback, and an open forum one-day workshop involving constituents of pedestrian advocacy

groups. The engineering performance analysis studied both the equipment and user interface from a human factors perspective.

The experiments were completed using existing Advanced Accessible Pedestrian Signals (AAPS) hardware. Human factors

studies were completed to determine the human response to information presented in both audible and visual format.

The changes for improved safety listed below are subject to the consideration of numerous factors before an intersection is

equipped with the capability or technology.

1. Audio beaconing is a low cost but highly effective method to direct pedestrians to the destination curb. AAPS

hardware modifications are needed to be most effective.

2. Passive pedestrian detection is simple to interface to the existing AAPS equipment but equipment costs are high

relative to the AAPS equipment.

3. Information conveyed during preemption must have a low cognitive load and unambiguous interpretation.

16. Key Words:

Pedestrian; accessible; APS; low

visions; detection;audible; human

factors

17. Distribution Statement

Unrestricted; Document is available to the public through the

National Technical Information Service; Springfield, VT.

18. Security Classif. (of

this report)

Unclassified

19. Security Classif. (of

this page)

Unclassified

20. No. of

Pages

21

21. Price

…

Form DOT F 1700.7 (8-72) Reproduction of completed page authorized

Improving Pedestrian Safety at Signalized Intersections i

TABLE OF CONTENTS

EXECUTIVE SUMMARY ...................................................................................................... 1

DESCRIPTION OF PROBLEM............................................................................................... 3

Audio Beaconing .............................................................................................................. 4

Passive Pedestrian Detection ............................................................................................ 5

Preemption and Pedestrian Signals ................................................................................... 6

Audio Beaconing ............................................................................................................ 11

Passive Pedestrian Detection .......................................................................................... 13

Audio Beaconing ............................................................................................................ 16

Passive Pedestrian Detection .......................................................................................... 17

Preemption and Pedestrian Signals ................................................................................. 18

Appendix ................................................................................................................................. 22

PED ACCESS WORKSHOP AGENDA............................................................................ 22

References ............................................................................................................................... 23

FIGURES

Figure 1. Optimal placement of APS pushbuttons [11] ............................................................ 4

Figure 2. Advanced Pedestrian Controller block diagram ........................................................ 7

Figure 3. APC unit .................................................................................................................... 8

Figure 4. University of Idaho laboratory equipment used for pedestrian control research .... 10

Figure 5. Typical APS pedestrian station (courtesy of Campbell Company, Boise, ID) ....... 11

Figure 6. Block diagram of Advanced Pedestrian Button with added capability for second

speaker .................................................................................................................................... 12

Figure 7. Passive detection interface circuit ........................................................................... 13

Figure 8. Preemption test circuit and APC AC sense circuit .................................................. 14

Figure 9. Results for the fire engine preemption symbol........................................................ 19

Figure 10. Results for the ambulance preemption symbol ................................................. 1919

Figure 11. Results for the police car preemption symbol ....................................................... 20

Improving Pedestrian Safety at Signalized Intersections ii

TABLES

Table 1. Results from the preemption audible message survey .............................................. 20

Improving Pedestrian Safety at Signalized Intersections 1

EXECUTIVE SUMMARY

We have investigated technologies that are intended to reduce personal risk for pedestrians at

signalized intersections. Our research assumes that improving safety for one class of

pedestrians will result in improved safety for all pedestrians. However, we realize there are

inherent risks associated with allowing technology to remove the need for personal

responsibility to determine risk. The 2001 report “Embedded, Everywhere” recognizes the

risk of indiscriminate application of technology in the statement “There are few, if any,

ethically neutral technologies.”[1] Therefore, the questions we centered our research around

are what to do and how to do it.

We investigated three concerns of traffic agencies who are currently using or who are

considering using Accessible Pedestrian Systems (APS). All testing was conducted using the

AAPS developed at the University of Idaho and manufactured by Campbell Company. The

three major concerns of these agencies are acoustic beaconing, passive detection, and

pedestrian signal operations in the event of intersection preemption.

Acoustic beacons are audible tones that are generated at the destination curb. The target

beaconing method offers good orientation assistance and less audible distraction for low

vision pedestrians who are attempting to focus on other audible cues. Multiple speakers are

required to direct the audible message or tones. There is ongoing research to determine the

best positioning of the beacon speaker, the timing of the message or signal tones, and the

content of the message or tone frequency. Audible countdowns during the pedestrian

transition interval have been proposed. Integrating the second speaker into the AAPS will

require both hardware and software changes.

Passive pedestrian detection has advantages for physically impaired and low vision

pedestrians in that they are not required to make physical contact with the pedestrian button.

We successfully integrated the Traficon Safewalk [2] system to detect the presence of

pedestrians at the curbside. We also integrated the Traficon TraffiCam [3] system to monitor

the presence of a pedestrian in the crosswalk. There is a risk that common use of passive

video detection can lull pedestrians into unsafe behavior from lack of proper attentiveness.


Our research concluded that the benefit comes at a high cost for the detection equipment. We

are investigating other solutions that provide non-contact activation at a much lower cost.

Preemption is an event that disrupts the normal traffic signal timing. The two most common

types of preemption are railroad and emergency vehicle. The MUTCD states that the

pedestrian clearance (pedestrian change interval) interval may be “abbreviated.” This has a

negative safety effect on disabled and low vision pedestrians. The Advance Pedestrian

Controller (APC) unit in the AAPS systems has two inputs designated to function as

preemption inputs. The two major concerns are what the pedestrian button audible message

should be during the preemption interval and the timing of those messages.

Currently, the common display during preemption follows MUTCD Section 4E.07 Paragraph

10:

“If the pedestrian change interval is interrupted or shortened as a part of a transition

into a preemption sequence (see Section 4E.06), the countdown pedestrian signal

display should be discontinued and go dark immediately upon activation of the

preemption transition.”

There is no mention of what preemption audible message should be heard in the MUTCD.

Therefore, we are investigating possible audible as well as visual messages that will inform

pedestrians of a possible dangerous situation if they are to remain in or enter the intersection.


DESCRIPTION OF PROBLEM

The definition of pedestrian must be expanded from the classical meaning to address the

population who are served by the pedestrian controls at signalized intersections. Common

traffic signals combine vehicle movements with pedestrian movements. Right and left

turning vehicles will frequently conflict with a permitted pedestrian movement. For this

instance, the vehicle is legally obligated to yield to the pedestrian since he or she is the most

vulnerable party. If the law can make us safe, why were there 47,700 pedestrians killed

between 2000 and 2009? [4] North Carolina reports that approximately 2,500 car accidents

involving pedestrians happen every year. On average, more than 400 pedestrians are either

killed or injured severely in North Carolina pedestrian accidents annually. The internet is

replete with anecdotal accounts describing the use of personal electronic devices contributing

to pedestrian injuries [4]. The basic question becomes, “How can technology improve

pedestrian safety with minimal adverse affects?”

Blindness of varying degrees affects more than three million Americans over 40 and that

number will double by 2030 [5]. Accessible pedestrian signals (APS) are intended to provide

information concerning traffic conditions and intersection operations using three sensory

modes: auditory, tactile, and visual. Vision impaired pedestrians desire the information to be

succinct and unambiguous so that they can focus their attention on sensing what is happening

in their environment using other auditory and tactile cues.

When dealing with pedestrians, we also cannot always assume that people who have normal

visual acuity will see the dangers in crossing at intersections. Although alcohol seems to be a

cause in 12 percent of pedestrian-involved accidents, distraction is likely another leading

cause of walkers being struck by a vehicle [6]. More recently, researchers now refer to

“inattention” as “selective attention” and declare that the ability for humans to “multi-task” is

a myth and to attempt to do so in critical situations is dangerous [7]. The study of the

psychology of inattentional blindness has shown it is responsible for many errors with

serious consequences [8].


Hence, a distraction that causes attention to be diverted can either have a positive or negative

impact on safety. Our research attempts to evaluate three specific technologies applied to

pedestrian control systems and identify both positive and negative attributes associated with

using them: audio beaconing, passive pedestrian detection, and preemption warnings.

Audio Beaconing

Audio beaconing refers to the use of an audible tone generated at the destination curb or

sidewalk to help guide the pedestrian in a straight line from his present position [9]. This has

nothing to do with beacons as discussed in the Section 4F.01 of the MUTCD or Rectangular

Rapid Flashing Beacons (RRFB) [10]. Figure 1 illustrates the recommended placement of

APS pushbuttons. It is obvious from Figure 1 that the direction of the speaker used for the

locator tone is orthogonal to the intended crosswalk. The purpose of the speaker is to help

pedestrians locate the pushbutton, and the best practices guide suggests that the audible range

be in order of 10 feet. Clearly, the placement and the volume settings suggest that using this

speaker is not suitable for beaconing that provides orientation help for pedestrians.

Figure 1. Optimal placement of APS pushbuttons [11]


The MUTCD does not address this feature for APS systems and there is little guidance

available as to what audible message or tones should be played to provide this service. As

previously discussed, an audible signal must be a useful distraction and limited in duration to

allow the listener to return to focusing on conventional audible navigational cues. Clearly

text based messages require higher cognitive loading to mentally process the message.

Another factor that must be considered is the effect by and on the environment. If a broad

beamed audio signal is emitted, then one must consider the effects of echoes off buildings

and vehicles at the intersection. An audible signal at a low volume level may not be

detectable across the intersection in the presence of high ambient noise. An audible signal at

a high volume level intensifies the acoustic reflection problem as well as raises the potential

for objection by homeowners and business operators in the proximity of the crosswalk.

Passive Pedestrian Detection

While the transition interval is timed based upon an assumed walking speed and the length of

the crosswalk, typically, the walk interval is limited to five to seven seconds regardless of the

time allotted to the green time for the parallel traffic. This practice may be used to platoon

pedestrian traffic such that all of the pedestrian crosswalk occupancy is limited to a portion

of the total green time. The remaining green time can be used for right turn on red vehicle

movements that would not be in conflict with pedestrian movements. The second reason is

that the total green time may not be known at the end of the walk interval because green time

extensions are based upon the current traffic conditions.

The challenge for blind or mobility-impaired persons is to move from the button location to

the curb where they are to initiate their crossing [12]. It is quite common for the traffic

controller to begin the walk interval immediately after the button is pressed. Hence, part of

the walk interval is consumed by the pedestrian just getting to the crosswalk. The

construction of the intersection can be such that a blind or mobility impaired pedestrian

cannot reach the crosswalk in the allotted walk interval.


Passive pedestrian detection has advantages for physically impaired and low vision

pedestrians in that they are not required to make physical contact with the pedestrian button

[13]. A report in 2005 indicated that false detection was a serious concern in the broad

deployment of passive detections systems [14]. Our research focused on the interface of the

Traficon Safewalk and Traficam systems [3,4] with APB devices to determine the detection

capability, effectiveness, and what information is available from an existing commercialized

passive pedestrian detection system.

Preemption and Pedestrian Signals

Preemption is the disruption of normal traffic control timing plans and is usually initiated for

approaching emergency vehicles and railroad trains. The MUTCD is very clear and concise

on the transition from normal traffic control operations and operations that serve preemptive

operations. Intersection operation during preemption events is generally part of the traffic

controller programming. Although feedback from Campbell Company suggests some traffic

agencies are requesting an input to the APC that can be used to monitor preemption type

events, there has been no clear direction from these agencies as to what to do for these

events.

When considering the response of visual and audible pedestrian signals, it is good to consider

what information is available for use. Figure 2 shows the block diagram of the APC unit

shown in Figure 3. Visual pedestrian signals are driven from load switches that transform

low voltage binary signals to switching 120 VAC outputs on and off. The load switches are

also used to control the on-off condition of the green, amber, and red traffic lights as well. In

TS2 traffic controller cabinets, the load switches can be set to switch on the 120 VAC output

during either the positive half, negative half, or both halves of the voltage waveform to

control the signal power consumption and/or luminescence. The traffic controller is

programmed to use selected load switches for the WALK and DON’T WALK signals. The

load switch alternates between the on and off condition at approximately a one hertz rate

during flash conditions. The only information that the APC has access to is the voltages that

are applied to the WALK and DON’T WALK signals.


TS7370

Single

Board

Computer

with Linux

Operating

Systems

Interface Board

Ethernet

over Power

Line (EoP)

Modem

APC

Power

Converter

120/18 VAC

Transformer

120 VAC

Power

I2C

CO

MM

Eth

ern

et

#2 Ethernet

#1

Electronic

Relays

AC

Voltage

Sensors

Advanced Pedestrian Controller

LED

Control

5V

DC

18VAC to

APBs

Load

Switch

Outputs

Pedestrian

Detector

Inputs

Figure 2. Advanced Pedestrian Controller block diagram


Figure 3. APC unit

The MUTCD specifies the pedestrian signal timing for transitioning into, during, and out of

preemption operations.1 The effects of these operations are only observable at the load switch

outputs; there is no useful audio information available for a blind pedestrian who is unable to

comprehend visually the reason for the change in operations. In addition, the MUTCD does

not specifically address a preemption audible message. The lowest risk pedestrian operation

is to indicate audibly the status of the pedestrian signal. Hence, the audible response to a

1 MUTCD Section 4D.27, Paragraph 08, Standard: B. “The shortening or omission of any pedestrian walk interval and/or

pedestrian change interval shall be permitted.” This statement appears to be in conflict with Paragraph 10, “During priority

control and during the transition into or out of priority control: B. The shortening of any pedestrian walk interval below that

time described in Section 4E.06 shall not be permitted. C. The omission of a pedestrian walk interval and its associated

change interval shall not be permitted unless the associated vehicular phase is also omitted or the pedestrian phase is

exclusive. D. The shortening or omission of any pedestrian change interval shall not be permitted. Section 4E:06 Paragraph

7: “Except as provided in Paragraph 08, the pedestrian clearance times should be sufficient to allow a pedestrian crossing in

the sidewalk who left the curb or shoulder at the end of the WALKING PERSON … signal condition to travel at a walking

speed of 3.5 feet per second to at least the far side of the traveled way….” Section 4E.06, Paragraph 08: “A walking speed

of up to 4 feet per second may be used to evaluate the sufficiency of the pedestrian clearance time at locations where an

extended pushbutton press has been installed ….”


pedestrian button pressed when the walk signal is not on is the message “WAIT” or the

extended APS wait message that includes additional location information.

It is helpful to consider the pedestrian signal operations from a blind or low vision person’s

perspective. In some localities, emergency vehicles do not operate their sirens unless they are

in the immediate vicinity of an intersection or otherwise impeded. The emergency vehicles

will activate the preempted signal operations several hundred yards from the intersection.

Consequently, the emergency vehicles are operating in a stealth mode for the visually

impaired pedestrian. This can lead to a dangerous situation where a visually impaired

pedestrian may step off the curb into the oncoming emergency vehicle’s path. This appears to

have a higher probability of occurrence than with a pedestrian with normal acuity. Another

possible dangerous situation occurs even when the emergency vehicle sounds its siren and a

deaf pedestrian may have his or her vision blocked from seeing the approaching emergency

vehicle. Therefore, the question is how to deal with these potential dangerous and deadly

situations.

The MUTCD reference cited in the footnote does offer some confusion as to whether the

pedestrian change interval can or cannot be altered for preemption. The pedestrian signals are

under the control of the traffic controller and not AAPS. However, we asked ourselves, “If

we could display something to the pedestrian on the walk signal or provide an audible

message using the beaconing speaker, what would be the most helpful information to

provide?”


APPROACH AND METHODOLOGY

All hardware and software experiments were performed in the University of Idaho Digital

Research Laboratory. The traffic control equipment shown in Figure 4 consisted of a TS2

Type I controller cabinet, an In ASC TS2 traffic controller (Econolite Controls Inc.,

Anaheim, CA), a MMU-16LEIp malfunction management unit, (Eberle Design Inc.,

Phoenix, AZ), and Model 262 loop detector (Diablo Controls, Inc., Crystal Lake, IL). The

pedestrian controls also shown in Figure 4 are the Advanced Accessible Pedestrian Systems

designed at the University of Ida ho [15] and are being produced and distributed by

Campbell Company, Boise ID.

Figure 4. University of Idaho laboratory equipment used for pedestrian control research


Audio Beaconing

The Campbell Company pushbutton shown in Figure 5 of the appendix was used for our

research and is typical of APS pedestrian stations. It consists of a pressure activated

mechanical or piezo-electric button that is designed to have a raised arrow that indicates the

direction to the crosswalk for the intended crossing. The button is constructed on a surface

that vibrates when the walk signal is active. The light emitting diode (LED) immediately

above the button provides visual feedback to the pedestrian that a signal has been sent to the

traffic controller indicating that a pedestrian requested a walk signal.

Figure 5. Typical APS pedestrian station (courtesy of Campbell Company, Boise, ID)

To add a second speaker, the electronics required modification as illustrated by the shaded

parts of the APB block diagram shown in Figure 6. The audio codec is a common audio

electric component and for our experimentation, we tested multiple codec devices that have

differing degrees of complexity and capability. The MAX5556 provided the simplest

interface and costs $1.84 [16]. The NXP UDA1342TS audio codec permits the software

control of the output volume though an independent I2C serial interface and costs $3.16 [17].

The NXP UDA1380 stereo audio coder-decoder integrated circuit provides the capability to


provide both digital to analog conversion and analog to digital conversion in a single silicon

package for only $1.23 [18].

NXP ARM Processor

VDD

Pedestrian

Push Button

Remote

Pedestrian

Control

Acknowledge

Call LED

EoP

Modem

Power

Converter

MPedestrian

Push Button

Vibrator

System Power &

Communications

Dual Audio Amplifier

Microphone

Amplifier

Audio Speakers

Microphone

Audio

Codec

Aux Digital

IO

Figure 6. Block diagram of Advanced Pedestrian Button with added capability for second speaker

The audio output amplifier currently used in the APB is the LM4755 integrated circuit

originally produced by National Semiconductor but currently marketed by Texas Instruments

[19]. Since the audio codec uses a serial binary interface, the original APB circuit was not


modified during testing. Instead, two of the auxiliary digital outputs were used to interface

with each of the codec units described above.


The use of passive detection in conjunction with AAPS was tested. Our research focused of

the interface of the Safewalk and Traficam systems marketed by Traficon USA [3,4]. The

two units were set up in the UI pedestrian research laboratory by affixing the units to the

ceiling support I-beam located approximately 10 feet above the floor. Conductors containing

a twisted pair of #18 stranded wire were used to connect the Safewalk and Traficam

detection outputs to one of the auxiliary digital IO pins of the NXP processor illustrated in

Figure 6. Figure 7 shows the circuit used for this interface. Depending upon which IO pins

are used, the NXP processor can be programmed to detect the contact closure in the passive

detection devices using either processor interrupts or by polling the IO pin and determining

the logic level.

Processor

IO Pin

VDD

Pull Up

Resistor

Passive

Detection

Device

Output

Twisted pair

cable

Figure 7. Passive detection interface circuit

The network packet that is sent from the APS to the APC when a pedestrian pushbutton press

is detected was modified. Additional bits in the packet byte that contained the pedestrian

button call type are programmed to identify the passive detection input status. The modified

detection software now generates an unsolicited User Data Protocol (UDP) message


whenever a pedestrian button press is detected or the relay contact closes on either passive

detection device.


The APC shown in Figure 2 is capable of sensing 16 load switch outputs to monitor the

WALK and DON’T WALK signal status using MID400 optically isolated AC voltage

detector integrated circuits. Two additional inputs that also use the MID400 IC are allocated

for AC or DC voltage detection, and the logic outputs can be read by the APC processor as

shown in Figure 8. AC or DC voltage input to the MID400 is set by selecting the value of R1

as described in the product datasheet [20]. The ACS3 can be programmed to output a signal

that indicates that a preemption sequence has been initiated.

AC

VDD

R1 R2

C1

MID400

F1

SW

Preemprion Test

Circuit

APC Interface

Circuit

To I2C IO

Buffer

MO

V

Figure 8. Preemption test circuit and APC AC sense circuit

To determine the best visual and audible message to display to pedestrians, surveys were

conducted to collect data from actual users. Undergraduate students completed an initial

survey to determine the symbol that best portrays that an emergency vehicle is approaching

the intersection. From this survey, the eight symbols for each emergency vehicle (police car,

fire engine, ambulance) were reduced to five. The researchers then made an educational visit


to a local school where we talked about the safety of crossing streets, distracted drivers and

pedestrians, and had the 6th

grade students complete the revised survey on emergency vehicle

symbols. We felt it was important to include children since they can be pedestrians as well

and would need to interpret the symbols just as older pedestrians would. From the results of

the 6th

graders, it was obvious there were some issues with a few of the symbols. We then

revised the survey once again and included more detailed ambulance symbols. This survey

was taken by additional undergraduate students to help narrow the possibilities to three.

In addition, a preliminary survey on audible preemption messages was given to engineering

students. The messages varied from a simple “Clear intersection” to a more complex message

“Emergency vehicle approaching, clear intersection” with a siren included.


FINDINGS; CONCLUSIONS; RECOMMENDATIONS

The following results were determined by analysis of experimental data, weekly phone

conference meetings involving UI researchers and Campbell Company engineers, and by

verbal feedback given at the PED ACCESS 2012 WORKSHOP, Boise ID, May 5, 2012. The

meeting agenda and notes of the workshop are provided in the appendix.

Audio Beaconing

Audio beacons are intended to supplement crosswalk signs and markings. For the low-vision

public, determining the destination curb is a daunting task and made even more daunting if

the intersection has unusual geometries. The pedestrian route can be difficult if markings are

obscured by snow, worn off the street by traffic, or unobservable by lack of light or loss of

sight. Pedestrian signals can be difficult to read when the signals are placed at a considerable

distance or obscured by background visual noise created by street lighting, business

advertisements, and ornamental lighting.

The use of audio tones and/or messaging is effective for helping pedestrians who have a wide

range of abilities. This group includes children, young adults, adults, and elderly pedestrians

whenever they have difficulty in determining the point of destination. It was reported in the

2011 TRB Pedestrian Workshop in Washington DC that audio beaconing is as effective of a

navigational aid as raised markings on the street surface. One suggestion under consideration

is the use of the audible countdown as the audible beacon. This idea combines both

navigational information and information concerning task completion time in the same

audible message.

The current version of APS has implemented beaconing using a single speaker positioned as

suggested by the MUTCD. Feedback from the PED ACCESS Workshop suggests that a

second speaker is required to direct the audible beacon to be most effective. Laboratory

experiments have shown that the second speaker can be added to the current APB design

using low-cost electronic hardware components and minor modifications to the current ABP

computer code. Additional power consumption is required to power the second speaker.


Implementation challenges with audio beaconing include managing multiple audible

messages from the same source point in a manner that will not confuse or distract

pedestrians. Selective activation restricting the use of audio beacons to only select

intersections and for APS (extended press) calls will minimize complaints from any

unintended audience.

The placement of the beacon speaker was not investigated during this research. Placing the

beacon speaker at head level will give higher directionality, provided the speaker is mounted

where the crosswalk meets the curb. The potential problems with the low-level placement

center on distortion due to acoustic echoes. The elevated speaker location can be

accomplished by providing an audio jack or fixed wiring. Either method has cost and

reliability implications.

In conclusion, audio beaconing has a high benefit to cost ratio and this capability will be

integrated into the design of the second generation AAPS.


The Traficon passive pedestrian detection devices have the potential to provide improved

access for low vision and mobility handicapped pedestrians. The system may provide safety

advantages when used for school crossings or near homes for the elderly. We defer to other

research to define the proper deployment of pedestrian detection systems [14, 21, 22, 23].

The use of passive pedestrian detection may address the need for the “extra press” option

needed to mitigate loss of the walk cycle due to excessive orientation time or late-in-cycle

pedestrian calls for low-vision pedestrians.

The equipment provides a contact closure whenever a person is detected in the programmed

detection area, whether that is on the curb or in the crosswalk. The low technology binary

output renders a simple interface, with AAPS and APB units requiring minimal circuit

modification. No equipment failures were observed during laboratory experiments using the

SafeWalk and Traficam devices.


We conclude from our investigation that integration of a passive detection system is feasible

should the specific situation arise that justifies the expense of the additional equipment.


The capability of the APC to detect a preemption input was tested in the UI Digital

Laboratory by simulating a switched 120V AC signal as shown in Figure 8. Software

modifications in the APC and APB units were necessary to allow the status of the preemption

inputs to be communicated with the pedestrian stations around the intersection. The APBs

can be programmed to respond to these signals. Even though various traffic agencies have

requested this capability, to date, no agency has specified the exact content of the preemption

message or what the response of the AAPS should be. Clearly, there is an expectation by the

traffic industry that something should be done, but the correct thing to do has not been

determined.

The final surveys indicated that three symbols were significantly preferred for the fire engine

and ambulance (Figure 9 and Figure 10, respectively). However, there was only one symbol

was significantly preferred for the police car as is seen in Figure 11. The surveys will once

again be revised to include only three symbols for each vehicle and administered to

pedestrians of all ages. The idea is that these symbols should be recognizable to all

pedestrians. Symbols relating to rail trains will be examined in the future.


Figure 9. Results for the fire engine preemption symbol (* indicates significantly different at 95%)

Figure 10. Results for the ambulance preemption symbol (* indicates significantly different at 95%)

1 2 3 4 5

1 2 3 4 5

*

* *

*

*

*


Figure 11. Results for the police car preemption symbol (* indicates significantly different at 95%)

Since a big part of designing the pedestrian signals for all users includes the blind and low

vision users, the use of an audible preemption message must also be examined. Results from

the preliminary survey shown in Table 1 indicate that finding a “correct” message may be

difficult without more guidance from traffic engineers or the blind pedestrian community.

Further studies on audible messages should be conducted to find the best message as well as

include various age groups to examine understanding. Additional experiments would include

location of the speakers (related to beaconing), loudness of the message, and conjunction of a

visual and audible message.

Table 1. Results from the preemption audible message survey

Message Number of

Respondents

Percent of

Respondents

Clear intersection 2 5.7

Emergency vehicle approaching, clear intersection 15 42.9

Emergency vehicle approaching 10 28.6

Emergency vehicle, clear intersection 8 22.9

1 2 3 4 5

*


The preliminary results and feedback from the blind community as well as those in the

transportation field indicate that some form of a preemption warning is needed. The cost is

low with a high benefit, making it worthwhile to pursue.


APPENDIX

PED ACCESS WORKSHOP AGENDA

May 4, 2012

8:30 – 9:00 a.m. Coffee and donuts

9:00 – 10:15 a.m. Welcome, introductions and workshop notes (Richard and Phil)

10:15 – 11:00 a.m. AAPS

1. Review of Smart Signals (Richard)

2. Web site for Research Activity (Karen)

3. Recent Research Activity

a. Pedestrian Fault Monitor (Ben)

b. SDLC Interface (Jacob)

11:00 – 11:10 Break

11:10 – 12:00

4. Changes in MUTCD and APS (Phil)

a. Advisor independent APS

12:00 – 12:30: Lunch and visits

12:30 – 1:30

5. AAPS Features and Controls (Cody)

1:30 – 2:00

6. Preemption notification (Denise)

7. Pedestrian community Input

2:00 – 2:15 Break

2:15 – 3:00

8. Pedestrian safety – accessibility for people with barriers and vision limitations

a. Traffic – pedestrian interface and coordination

b. Operations and maintenance (traffic agencies)

c. Users – what helps – what doesn’t

d. Wish list

3:00 – 3:15 Future work (Richard)

3:15 – 3:45 Where to go – action items

a. Identify key issues

b. Cost benefit discussion

c. Prioritize effort


3:45- 4:00 Wrap up (Richard and Phil)

4:00-5:00 Plant Tour

REFERENCES

[1] “Embedded, Everywhere: A Research Agenda for a Network of Embedded Computers”, Committee on Networked

Systems of Embedded Computers, National Research Council, ISBN 0-309-51127-5, 2001, pg 34. Available for download

at http://www.nap.edu/catalog.php?record_id=10193.

[2] “SafeWalk - The First Stereovision Video Sensor”, manufactured by Traficon Video Detection,

http://www.traficon.com/pagenode.jsp?id=13&type=ProductCategory.

[3] “TrafiCam – The First Integrated Video Sensor”, manufactured by Traficon Video Detection,

http://www.traficon.com/pagenode.jsp?id=6&type=ProductCategory.

[4] D. Stavrinos, Byington, K.W., and Schwebel, D.C., “Effect of Cell Phone Distraction on Pediatric Pedestrian Injury

Risk”, PEDIATRICS, Vol. 123, No. 2, February 1, 2009, available at

http://pediatrics.aappublications.org/content/123/2/e179.full.

[5] “The Aging Eye”, The Eye Digest, University of Illinois Eye & Ear Infirmary, 2002, available at

http://agingeye.net/mainnews/usaging.php.

[6] “Pedestrian Distraction Can Lead to High Risk of Accidents Involving Cars in Asheville”, Lee Law Offices, North

Carolina Personal Injury (Lee Law Offices), September 17, 2011, Available at

http://www.northcarolinapersonalinjurylawyersblog.com/2011/09/pedestrian-distraction-can-lea.html.

[7] Christine Rosen , “The Myth of Multitasking”, The New Atlantis, Number 20, Spring 2008, pp. 105-110.

[8] “Inattentional Blindness: What Captures Your Attention”, Institute for Safe Medical Practices, February 26, 2009,

available at http://www.ismp.org/Newsletters/acutecare/articles/20090226.asp.

[9] D.A. Noyce, and Barlow, J.M., “Interfacing Accessible Pedestrian Signals (APS) with Traffic Signal Control

Equipment” Access Board Research, April 2003, Available at http://www.access-board.gov/research/APS/report.htm.

[10] “Rectangular Rapid Flash Beacon (RRFB)”, Federal Highway Administration, FWHA-SA-09-009, May 2009.

[11] “APS Design in New Construction”, Accessible Pedestrian Signals | Guide to Best Practices, National Cooperative

Highway Research Program Project 3-62, Chapter 6, available at http://www.apsguide.org/chapter6_new.cfm.

http://www.nap.edu/catalog.php?record_id=10193

http://www.traficon.com/pagenode.jsp?id=13&type=ProductCategory

http://www.traficon.com/pagenode.jsp?id=6&type=ProductCategory

http://pediatrics.aappublications.org/content/123/2/e179.full

http://agingeye.net/mainnews/usaging.php

http://www.northcarolinapersonalinjurylawyersblog.com/2011/09/pedestrian-distraction-can-lea.html

http://www.thenewatlantis.com/authors/christine-rosen

http://www.ismp.org/Newsletters/acutecare/articles/20090226.asp

http://www.access-board.gov/research/APS/report.htm

http://www.apsguide.org/chapter6_new.cfm


[12] “Dangerous by Design 2011”, Transportation for America, available at http://t4america.org/docs/dbd2011/Dangerous-

by-Design-2011.pdf. Last accessed on May 25, 2012.

[13] “Passive Pedestrian Detection”, Accessible Pedestrian Signals | Guide to Best Practices, National Cooperative

Highway Research Program Project 3-62, Chapter 4, available at http://www.apsguide.org/chapter4_detection.cfm.

[14] ”Selecting the Most Effective ITS Application for Pedestrian Safety”, Report prepared for the Florida Department of

Transportation by the University of South Florida, September 2005, available at http://www.dot.state.fl.us/research-

center/Completed_Proj/Summary_TE/FDOT_BC353_50_rpt.pdf.

[15] DeVoe, D., S. Giri, and R.W. Wall, “A Distributed Ethernet Network of Advanced Pedestrian Signals”, Transportation

Research Board Record, Washington, DC, 2009, Access # 01125542, Report # 09-3256.

[16] MAX556 Low-Cost Stereo Audio DAC Datasheet, datasheet available for download at http://datasheets.maxim-

ic.com/en/ds/MAX5556.pdf.

[17] UDA1342TS Audio Codec, NXP Semiconductor, datasheet available for download at

http://www.nxp.com/documents/data_sheet/UDA1342TS.pdf.

[18] UDA1380 Stereo Audio Coder-Decoder for MD, CD, and MP3, NXP Semiconductor, datasheet available for download

at http://www.nxp.com/documents/data_sheet/UDA1380.pdf.

[19] LM4755 Stereo 11W Audio Power Amplifier with Mute Data Sheet, Texas Instruments Semiconductor, datasheet

available for download available at http://www.ti.com/lit/ds/symlink/lm4755.pdf.

[20] MID400 AC Line Monitor Logic-Out Device data sheet, Fairchild Semiconductor, datasheet available at

http://www.fairchildsemi.com/ds/MI%2FMID400.pdf.

[21] “Passive Pedestrian Detection”, Accessible Pedestrian Signals – a Guide to best Practices, Chapter 4. Available for

download at http://www.apsguide.org/chapter4_detection.cfm.

[22] “ITS Technologies Ped Smart Pedestrian Detection”, walkinginfo.org Design & Engineering, US Department of

Transportation, Turner-Fairbank Highway Research Center, available at http://www.walkinginfo.org/pedsmart/p.htm.

[23] “Pedestrian Safety - Report to Congress”, US Department of Transportation Federal Highway Administration, August

2008, available at http://safety.fhwa.dot.gov/ped_bike/legis_guide/rpts_cngs/pedrpt_0808/chap_3.cfm.

http://t4america.org/docs/dbd2011/Dangerous-by-Design-2011.pdf

http://t4america.org/docs/dbd2011/Dangerous-by-Design-2011.pdf

http://www.apsguide.org/chapter4_detection.cfm

http://www.dot.state.fl.us/research-center/Completed_Proj/Summary_TE/FDOT_BC353_50_rpt.pdf

http://www.dot.state.fl.us/research-center/Completed_Proj/Summary_TE/FDOT_BC353_50_rpt.pdf

http://datasheets.maxim-ic.com/en/ds/MAX5556.pdf

http://datasheets.maxim-ic.com/en/ds/MAX5556.pdf

http://www.nxp.com/documents/data_sheet/UDA1342TS.pdf

http://www.nxp.com/documents/data_sheet/UDA1380.pdf

http://www.ti.com/lit/ds/symlink/lm4755.pdf

http://www.fairchildsemi.com/ds/MI%2FMID400.pdf

http://www.apsguide.org/chapter4_detection.cfm

http://www.walkinginfo.org/pedsmart/p.htm

http://safety.fhwa.dot.gov/ped_bike/legis_guide/rpts_cngs/pedrpt_0808/chap_3.cfm

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